center: [0.45, 0.0, 0.0]
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects:

- object_id: active_perception/omni_objects/chair/chair_028
  xyz: [-0.0068908389657735825, 0.005315959919244051, 0.22069703042507172]
  rpy: [89.94711717085535, 1.78963420316314, -1.018159228175955]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_114
  xyz: [0.008980791084468365, 0.07558994740247726, 0.2308768779039383]
  rpy: [150.66163801014582, -4.743256318682531, -15.052887763933379]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_115
  xyz: [0.04214617237448692, 0.10601552575826645, 0.23250775039196014]
  rpy: [-169.4780070863511, -1.1591596641244344, -83.30945372761698]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_120
  xyz: [0.11285210400819778, -0.07488349825143814, 0.22921115159988403]
  rpy: [4.4188755739278704, 9.13866908064441, -89.49460894079391]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_041
  xyz: [0.15021200478076935, 0.09884239733219147, 0.23815606534481049]
  rpy: [93.47647346205669, -11.421086634339618, -79.89856227065796]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_030
  xyz: [-0.04284593090415001, 0.041140712797641754, 0.256274938583374]
  rpy: [-106.41680876613736, 42.10404565471628, -61.371737511935486]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_060
  xyz: [-0.008709152229130268, -0.022433513775467873, 0.23665982484817505]
  rpy: [149.69843053547226, 6.928019986646387, 58.82378003257157]
  scale: 1.0